Improving wave variables algorithm transient response based on input shaping

In a conventional teleoperation system, transmission delay can potentially cause instability. The wave variables algorithm successfully addressed this issue at the cost of poor transient. While the steady state response of this method has been rigorously analyzed with proven stability guarantee, there have been few quantitative descriptions of its transient behavior. This paper provides a detailed mathematical model of the wave variable transient response. It provides a systematic framework from which we can predict and improve transient response based on adjusted parameters. Furthermore we propose a novel approach loosely based on input shaping to minimize the wave variable transient oscillation.